version: 66.08
glider: 141
mission: 15
dive: 762
start: 6 4 111 5 33 20
data:
$ID,141
$MISSION,15
$DIVE,762
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-55640.59
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.39
$_SM_ANGLEo,-7.9
$GPS2,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,92.8,76241,-17.5,-10.000
$D_GRID,653
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2886,2270,3051,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.7,-0.0,1,52,0.60,2.72,-15.27,0.000,4,0.079,0.089,2660,3898,3629,0,0,0,0,0,0
$GC,111,-0.50,-146.0,23.1,-19.2,15,118,0.17,2.22,0.00,0.000,6,0.213,0.052,2700,2486,3631,0,0,0,0,0,0
$GC,459,-0.42,-146.0,75.4,-13.7,76,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2486,3631,0,0,0,0,0,0
$GC,795,-0.37,-146.0,125.0,-14.5,121,800,0.15,2.30,0.00,0.000,4,0.221,0.070,2737,1075,3629,0,0,0,0,0,0
$GC,824,-0.37,-146.0,128.7,-12.8,123,828,0.00,2.33,0.00,0.000,6,0.000,0.065,2737,2495,3629,0,0,0,0,0,0
$GC,1150,-0.42,-146.0,161.0,-9.8,153,1154,0.00,2.33,0.00,0.000,4,0.000,0.081,2737,3900,3628,0,0,0,0,0,0
$GC,1207,-0.51,-146.0,166.8,-10.1,157,1214,0.12,2.22,0.00,0.000,6,0.122,0.051,2695,2486,3628,0,0,0,0,0,0
$GC,1533,-0.82,-146.0,197.3,-0.0,188,1538,0.25,2.25,0.00,0.000,4,0.104,0.064,2601,1080,3628,0,0,0,0,0,0
$STATE,1608,end dive,NO_VERTICAL_VELOCITY
$STATE,1608,begin apogee
$GC,1618,-0.12,0.0,197.3,0.0,194,1745,0.68,0.00,119.70,1.030,6,0.129,0.000,2817,2286,3030,0,0,0,0,0,0
$STATE,1746,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1748,0.62,146.0,197.4,0.0,206,1883,0.77,2.55,122.03,0.978,4,0.147,0.070,3056,863,2432,0,0,0,0,0,0
$GC,2111,0.82,232.8,185.7,6.0,238,2192,0.20,2.30,73.72,0.943,6,0.083,0.057,3139,2283,2081,0,0,0,0,0,0
$GC,2521,0.78,232.8,137.1,12.2,276,2525,0.00,2.30,0.00,0.000,4,0.000,0.073,3139,3693,2071,0,0,0,0,0,0
$GC,2577,0.72,232.8,129.2,14.0,280,2585,0.20,2.25,0.00,0.000,6,0.180,0.056,3097,2274,2069,0,0,0,0,0,0
$GC,2903,0.82,262.4,100.2,8.6,311,2934,0.00,2.40,25.10,0.896,4,0.000,0.073,3105,858,1960,0,0,0,0,0,0
$GC,2988,0.97,302.2,93.4,8.2,324,3031,0.20,2.30,36.50,0.895,6,0.087,0.056,3186,2285,1798,0,0,0,0,0,0
$GC,3372,0.92,302.2,36.3,13.1,391,3378,0.00,2.30,0.00,0.000,4,0.000,0.071,3186,3698,1790,0,0,0,0,0,0
$GC,3432,0.86,302.2,27.5,15.2,401,3439,0.20,2.28,0.00,0.000,6,0.196,0.067,3146,2274,1788,0,0,0,0,0,0
$FREEZE,8.65,-0.981,-1.819,3,125,1
$FREEZE,8.15,-0.981,-1.819,3,125,1
$FREEZE,7.62,-0.985,-1.818,3,125,1
$FREEZE,7.11,-0.983,-1.818,3,125,1
$FREEZE,6.64,-0.981,-1.817,3,125,1
$FREEZE,6.23,-0.984,-1.817,3,125,1
$FREEZE,5.74,-0.983,-1.817,3,125,1
$FREEZE,5.14,-0.978,-1.816,3,125,1
$FREEZE,4.56,-0.963,-1.816,3,125,1
$FREEZE,4.02,-0.957,-1.816,3,125,1
$FREEZE,3.39,-0.962,-1.815,3,125,1
$FREEZE,2.84,-0.976,-1.815,3,125,1
$STATE,3652,end climb,SURFACE_DEPTH_REACHED
$STATE,3652,begin surface coast
$FREEZE,2.37,-0.976,-1.814,3,125,1
$FREEZE,2.03,-0.975,-1.807,3,125,1
$FREEZE,2.10,-0.969,-1.719,3,125,1
$FREEZE,2.02,-0.885,-1.809,3,125,1
$FREEZE,2.03,-0.930,-1.032,3,125,1
$FINISH,2.0,1.015235
$STATE,3682,end surface coast,CONTROL_FINISHED_OK
$STATE,3682,begin surface
$RAFOS_CLK,210
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6647.44,-5724.91,020611,181827
$TT8_MAMPS,0.026215
$HUMID,47.99
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,17.10
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,22.8,101.799
$10V_AH,9.8,52.233
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,3.550,37.050,377.050,0.000,0.000,0.000,0.000,0.000,6.250,0.000,0.000,1076.669,1591.245,341.647,756.110,98.116,0.000,796.241,0.000,755.574,0.000,2.615,0.000
$DEVICE_MAMPS,221.085,88.740,1029.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.935,323.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,16820,446
$CAP_FILE_SIZE,51662,0
$CFSIZE,260165632,204054528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,030611,004656,6639.497,-5814.677,181,99.0,181,-37.6